According to lemmas REF  and REF , the planner's objective is linear in moments of \(m\)  with respect to the measure \(\pi (m|\tau )\) . Also, the obedience condition is linear in moments of \(m\) . However, \(m\)  is supported over real numbers and therefore, the measure \(\pi \)  is not a finite measure. But for a problem to be a GPM, we must have finite probability measures. In order to have a finite measure, we need to discretize the time and consider a discretized version of the optimization problem, which is a GPM. Therefore, we can numerically solve it using the computation tools available for these types of problems such as Gloptipoly [1]}.
In the next section, we will present these numerical results.
